WO2020237721A1 - 平面关节型机器人及内转子关节装置 - Google Patents

平面关节型机器人及内转子关节装置 Download PDF

Info

Publication number
WO2020237721A1
WO2020237721A1 PCT/CN2019/090577 CN2019090577W WO2020237721A1 WO 2020237721 A1 WO2020237721 A1 WO 2020237721A1 CN 2019090577 W CN2019090577 W CN 2019090577W WO 2020237721 A1 WO2020237721 A1 WO 2020237721A1
Authority
WO
WIPO (PCT)
Prior art keywords
speed rotor
low
pole
magnet
speed
Prior art date
Application number
PCT/CN2019/090577
Other languages
English (en)
French (fr)
Inventor
刘吉柱
潘明强
章晓旗
王阳俊
任子武
黄海波
Original Assignee
苏州大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 苏州大学 filed Critical 苏州大学
Priority to US17/033,893 priority Critical patent/US11850746B2/en
Publication of WO2020237721A1 publication Critical patent/WO2020237721A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B25J9/044—Cylindrical coordinate type comprising an articulated arm with forearm providing vertical linear movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K16/00—Machines with more than one rotor or stator
    • H02K16/02—Machines with one stator and two or more rotors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K21/00—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets
    • H02K21/12—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets
    • H02K21/14—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets rotating within the armatures
    • H02K21/16—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets rotating within the armatures having annular armature cores with salient poles
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K49/00—Dynamo-electric clutches; Dynamo-electric brakes
    • H02K49/10—Dynamo-electric clutches; Dynamo-electric brakes of the permanent-magnet type
    • H02K49/102—Magnetic gearings, i.e. assembly of gears, linear or rotary, by which motion is magnetically transferred without physical contact
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K2213/00—Specific aspects, not otherwise provided for and not covered by codes H02K2201/00 - H02K2211/00
    • H02K2213/03—Machines characterised by numerical values, ranges, mathematical expressions or similar information

Definitions

  • the invention relates to a plane joint robot and an inner rotor joint device.
  • the purpose of the present invention is to provide a planar articulated robot and an inner rotor articulation device, which enable high transmission accuracy, high utilization rate of permanent magnets, simple and compact structure, and low cost.
  • an embodiment of the present invention provides a planar articulated robot.
  • the planar articulated robot includes a base, a first inner rotor joint device provided on the base, and a joint device composed of the first inner rotor.
  • the first inner rotor joint device includes a rotating shaft fixedly connected to the first mechanical arm and extending along the longitudinal axis, and is located The low-speed rotor assembly on the outer circumference of the rotating shaft, the high-speed rotor assembly located on the outer periphery of the low-speed rotor assembly, the magnetic tuning ring located between the low-speed rotor assembly and the high-speed rotor assembly in the circumferential direction, and the outer periphery of the high-speed rotor assembly A stator core with a certain gap between the high-speed rotor assembly and the high-speed rotor assembly in the circumferential direction, and a casing covering the outer circumference of the stator core and fixedly connected to the stator core, on the stator core A coil is wound.
  • the magnetic tuning ring includes a magnetic tuning block skeleton, a plurality of magnetic tuning blocks are evenly arranged on the magnetic tuning block skeleton in the circumferential direction, and the magnetic tuning block adopts a magnetic Material, the frame of the magnetic tuning block adopts non-magnetic material.
  • the low-speed rotor assembly includes a low-speed rotor yoke fixed relative to the rotating shaft, a low-speed rotor magnet N pole and low-speed rotor yoke fixedly arranged on the outer circumference of the low-speed rotor yoke
  • the rotor magnet S poles, the low speed rotor magnet N poles and the low speed rotor magnet S poles are alternately arranged in the circumferential direction
  • the high speed rotor assembly includes a high speed rotor yoke and a high speed rotor yoke arranged on the inner ring of the high speed rotor yoke.
  • the rotor magnet N pole and the high speed rotor magnet S pole, the outer ring of the high speed rotor yoke is provided with the motor magnet N pole and the motor magnet S pole, the high speed rotor magnet N pole and the high speed rotor magnet S
  • the poles are alternately arranged in the circumferential direction, and the motor magnet N pole and the motor magnet S pole are alternately arranged in the circumferential direction.
  • the rotation speed of the high-speed rotor yoke is ⁇ 1
  • the rotation speed of the low-speed rotor yoke is ⁇ 2
  • the torque of the high-speed rotor yoke is T 1
  • the torque of the low-speed rotor yoke is T 2
  • the N pole of the high-speed rotor magnet and the S pole of the high-speed rotor magnet, the magnetizing block, the N pole of the low-speed rotor magnet and the S pole of the low-speed rotor magnet are perpendicular to
  • the longitudinal axis has a certain gap between each other in the direction, and is uniformly distributed in the circumferential direction.
  • the N pole of the high-speed rotor magnet and the S pole of the high-speed rotor magnet, the magnetizing block, the N pole of the low-speed rotor magnet and the S pole of the low-speed rotor magnet are in the Both ends in the direction of the longitudinal axis are arranged to be flush with each other.
  • the planar articulated robot further includes a second robot arm arranged between the first robot arm and the robot arm, and a second inner rotor that drives the second robot arm to rotate
  • the joint device, the second inner rotor joint device is the same as the first inner rotor joint device.
  • the first inner rotor joint device further includes a lower end cover and an upper end cover disposed at opposite ends of the casing in the extending direction of the longitudinal axis, the lower end cover and the upper end cover The covers are fixedly connected to the casing, the lower end cover and the upper end cover define a receiving cavity, and the low-speed rotor assembly, the high-speed rotor assembly, the magnetic tuning ring and the stator core are all contained in the receiving Cavity.
  • a lower bearing is provided between the lower end cover and the rotating shaft, and an upper bearing is provided between the upper end cover and the rotating shaft.
  • the first inner rotor joint device further includes a grating sheet fixedly connected to the rotating shaft, and an encoder fixedly connected to the upper end cover, the encoder and the The grating sheets face each other, the grating sheets are located on the entire outer circumference of the rotating shaft, and the grating sheets are coaxial with the rotating shaft.
  • the first inner rotor joint device further includes an encoder housing fixedly arranged on the upper end cover, the encoder housing and the housing are located on both sides of the upper end cover , The encoder shell and the upper end cover define an accommodation space for accommodating the grating sheet and the encoder.
  • an embodiment of the present invention also provides an inner rotor joint device, wherein the inner rotor joint device includes a rotating shaft extending along a longitudinal axis, a low-speed rotor assembly located on the outer circumference of the rotating shaft, and The high-speed rotor assembly on the outer periphery of the low-speed rotor assembly, the field-tuning ring located between the low-speed rotor assembly and the high-speed rotor assembly in the circumferential direction, and the high-speed rotor assembly on the outer periphery of the high-speed rotor assembly and between the high-speed rotor assembly in the circumferential direction
  • a stator iron core with a certain gap, and a casing covering the outer circumference of the stator iron core and fixedly connected to the stator iron core, and a coil is wound on the stator iron core.
  • the magnetic tuning ring includes a magnetic tuning block skeleton, and a plurality of magnetic tuning blocks are evenly arranged on the magnetic tuning block skeleton in the circumferential direction, and the magnetic tuning block adopts magnetic permeability Material, the frame of the magnetic modulation block adopts non-magnetic material.
  • the low-speed rotor assembly includes a low-speed rotor yoke fixed relative to the rotating shaft, a low-speed rotor magnet N pole and low-speed rotor yoke fixedly arranged on the outer circumference of the low-speed rotor yoke.
  • the rotor magnet S poles, the low speed rotor magnet N poles and the low speed rotor magnet S poles are alternately arranged in the circumferential direction
  • the high speed rotor assembly includes a high speed rotor yoke, and a high speed rotor yoke arranged on the inner ring of the high speed rotor yoke.
  • the rotor magnet N pole and the high speed rotor magnet S pole, the high speed rotor yoke is provided with the motor magnet N pole and the motor magnet S pole on the outer ring, the high speed rotor magnet N pole and the high speed rotor magnet S
  • the poles are alternately arranged in the circumferential direction, and the motor magnet N pole and the motor magnet S pole are alternately arranged in the circumferential direction.
  • the beneficial effect of the present invention is that the technical solution adopted by the present invention is arranged between the low-speed rotor assembly and the high-speed rotor assembly in the circumferential direction to adjust the magnetic field generated by the low-speed rotor assembly and the high-speed rotor assembly, and generate Space harmonics can realize the transmission torque and speed, so that the transmission accuracy is high and the utilization rate of permanent magnets is high.
  • the high-speed rotor assembly outputs lower torque. After conversion, the low-speed rotor assembly can obtain higher torque. Therefore, the volume of the high-speed rotor assembly can be greatly reduced, and the structure is simple and compact, and the cost is lower.
  • Figure 1 is a front view of a planar articulated robot provided by an embodiment of the present invention
  • Figure 2 is a perspective schematic view of a planar articulated robot provided by an embodiment of the present invention.
  • FIG. 3 is a perspective exploded schematic diagram of the first inner rotor joint device in FIG. 1;
  • Figure 4 is a transverse cross-sectional view of the first inner rotor joint device in Figure 3;
  • Fig. 5 is a top sectional view of the first inner rotor joint device in Fig. 3;
  • Figure 6 is a front view of the manipulator in Figure 1;
  • Fig. 7 is a control flow chart of the planar articulated robot in Fig. 1.
  • planar articulated robot which includes a base I, a first inner rotor joint device II arranged on the base I, and a first machine driven by the first inner rotor joint device II Arm III.
  • Manipulator VI connected to the first mechanical arm III.
  • the planar articulated robot also includes a second robot arm V arranged between the first robot arm III and the robot arm VI, and a second inner rotor joint device IV that drives the second robot arm V to rotate.
  • the second inner rotor joint device IV is the same as the first inner rotor joint device II.
  • the second inner rotor joint device IV can also be set differently from the first inner rotor joint device II. In the following, only the first inner rotor joint device II will be introduced in detail, and the second inner rotor joint device IV will not be specifically expanded.
  • the first inner rotor joint device II is a magnetic gear compound motor.
  • the first inner rotor joint device II includes a rotating shaft 13 fixedly connected to the first mechanical arm III and extending along the longitudinal axis, a magnetic gear module located on the outer periphery of the rotating shaft 13, and a motor module located on the outer periphery of the magnetic gear module.
  • the installation of the overall structure is explained. After the assembly of the first inner rotor joint device II, the second inner rotor joint device IV and the manipulator VI is completed, the final assembly is carried out.
  • the first inner rotor joint device II is connected to the base I by bolts; the first mechanical arm III is connected to the shaft 13 of the first inner rotor joint device II by bolts; the second inner rotor joint device IV is connected to the first machine by bolts On the arm III; the second mechanical arm V is connected to the shaft of the second inner rotor joint device IV by bolts, and the second mechanical arm V rotates with the shaft of the second inner rotor joint device IV; the manipulator VI is fixed on the second inner rotor joint device IV by bolts. On the robotic arm V.
  • the magnetic gear module includes a low-speed rotor assembly located on the outer periphery of the shaft 13, a high-speed rotor assembly located on the outer periphery of the low-speed rotor assembly, and a magnetizing ring located between the low-speed rotor assembly and the high-speed rotor assembly in the circumferential direction.
  • the motor module includes a stator core 2 located on the outer periphery of the high-speed rotor assembly with a certain gap between the high-speed rotor assembly in the circumferential direction and a coil wound on the stator core 2.
  • the first inner rotor device further includes a casing 34 that is wrapped around the outer circumference of the stator core 2 and is fixedly connected to the stator core 2.
  • the magnetic tuning ring includes a magnetic tuning block skeleton 7, a plurality of tuning magnetic blocks 30 uniformly arranged on the magnetic tuning block skeleton 7 in the circumferential direction, the magnetic tuning block 30 is made of magnetic material, and the magnetic tuning block frame 7 is made of non-magnetic material .
  • the low-speed rotor assembly includes a low-speed rotor yoke 26 fixed relative to the rotating shaft 13, a low-speed rotor magnet N pole 28 and a low-speed rotor magnet S pole 29 fixedly arranged on the outer circumference of the low-speed rotor yoke 26, and a low-speed rotor magnet N Pole 28 and low-speed rotor magnet S pole 29 are alternately arranged in the circumferential direction.
  • the high-speed rotor assembly includes a high-speed rotor yoke 5, a high-speed rotor magnet N pole 31 and a high-speed rotor magnet S pole arranged on the inner ring of the high-speed rotor yoke 5 32.
  • the motor module also includes the motor magnet N pole 3 and the motor magnet S pole 4 arranged on the outer ring of the high speed rotor yoke 5.
  • the high speed rotor magnet N pole 31 and the high speed rotor magnet S pole 32 alternate in the circumferential direction Arrangement, the motor magnet N pole 3 and the motor magnet S pole 4 are alternately arranged in the circumferential direction.
  • the magnetic gear module part contains three parts: a high-speed rotor assembly, a magnetizing block 30, and a low-speed rotor assembly. Since the low-speed rotor has more magnetic poles and the high-speed rotor has fewer magnetic poles, it can be increased through the action of electromagnetic force.
  • the magnetic gear has built-in overload protection, which has no friction during operation. High reliability without lubrication.
  • the motor magnet and the magnetic gear high-speed rotor magnet are pasted on both sides of the high-speed rotor yoke 5.
  • the motor magnet and the magnetic gear high-speed rotor magnet move synchronously to realize the mechanical combination of the motor module and the magnetic gear module, even if the motor output torque is very high. Small, large torque can also be obtained through the conversion of the magnetic gear module to meet the robot motion requirements, which greatly reduces the size of the motor and reduces the use cost. Therefore, the preferred embodiment has the characteristics of low cost, compact structure, high permanent magnet utilization, high speed, high transmission accuracy, high dynamic response, etc.
  • the low-speed rotor yoke 26 is sleeved on the rotating shaft 13, and the holes of the rotating shaft 13 and the low-speed rotor yoke 26 are provided with protrusions, and the two are circumferentially matched by the protrusions.
  • the first shaft uses a spring retainer 9 and the second shaft uses a spring retainer.
  • the ring 10 is respectively clamped into the two grooves of the rotating shaft 13, so that the low-speed rotor yoke 26 and the rotating shaft 13 are axially matched, so that the two rotate together.
  • low-speed rotor magnet N poles 28 and low-speed rotor magnet S poles 29 There are several low-speed rotor magnet N poles 28 and low-speed rotor magnet S poles 29.
  • a number of low-speed rotor magnet N poles 28 and a number of low-speed rotor magnet S poles 29 are pasted on the low-speed rotor yoke 26 through structural glue.
  • the low-speed rotor magnet N pole 28 and the low-speed rotor magnet S pole 29 are evenly distributed in the circumferential direction.
  • the high-speed rotor magnet N pole 31 and the high-speed rotor magnet S pole 32, the magnetizer block 30, the low-speed rotor magnet N pole 28, and the low-speed rotor magnet S pole 29 have each other in the direction perpendicular to the longitudinal axis. A certain gap.
  • the first inner rotor joint device II also includes a lower end cover 1 and an upper end cover 15 arranged at opposite ends of the casing 34 in the extending direction of the longitudinal axis.
  • the lower end cover 1 and the upper end cover 15 are both fixedly connected to the casing 34, and the lower end cover 1
  • the upper end cover 15 defines a receiving cavity, and the low-speed rotor assembly, the high-speed rotor assembly, the magnetizing ring and the stator core 2 are all contained in the receiving cavity.
  • a lower bearing 6 is provided between the lower end cover 1 and the rotating shaft 13, and an upper bearing 25 is provided between the upper end cover 15 and the rotating shaft 13.
  • the lower bearing 6 is sleeved into the rotating shaft 13, and the lower bearing 6 and the rotating shaft 13 are fixedly connected together by over-fitting.
  • the first circlip 12 is clamped into the corresponding groove of the rotating shaft 13 to axially fix the lower bearing 6.
  • the lower end cover 1 is sleeved into the outer ring of the lower bearing 6 and is also connected by over-fitting, and the bearing 27 is then sleeved into the outer ring of the lower end cover 1 by over-fitting.
  • a number of magnetic modulation blocks 30 are evenly inserted into the magnetic modulation block skeleton 7, the magnetic modulation block cover plate 8 is connected with the magnetic modulation block 30 and the magnetic modulation block skeleton 7 by bolts, and the magnetic modulation block skeleton 7 is also sleeved into the lower end cover through over-fitting 1.
  • high-speed rotor magnet N pole 31 and high-speed rotor magnet S pole 32 are also pasted on the inner ring of the high-speed rotor yoke 5 through structural glue, and several motor magnet N pole 3 and motor magnet S pole 4 are pasted by structural glue.
  • the high-speed rotor yoke 5 is attached to the outer ring of the high-speed rotor yoke 5 and is evenly distributed in the circumferential direction to form a high-speed mover.
  • the high-speed rotor yoke 5 of the high-speed mover is sleeved into the bearing 27 through excessive fitting.
  • the lower end cover 1 is provided with a coil sheath 33, and a lead cover 22 is fixedly connected to the outer side of the casing 34.
  • the first inner rotor joint device II also includes a grating sheet 21 fixedly connected to the shaft 13 and an encoder 18 fixedly connected to the upper end cover 15.
  • the encoder 18 faces the grating sheet 21, and the grating sheet 21 is located on the shaft 13 The entire outer circumference, and the grating sheet 21 is coaxial with the rotating shaft 13.
  • an encoder bracket 16 is provided on the upper end cover 15, and the encoder 18 is fixedly connected to the encoder bracket 16 by bolts.
  • the rotating shaft 13 is fixedly sleeved with a grating film seat 23, the circlip 14 is clamped into the corresponding groove of the rotating shaft 13 to axially fix the grating film seat 23, the grating film 21 is arranged on the grating film seat 23, and the grating film seat A grating sheet rubber sleeve 20 is also provided on 23, and the circlip 19 is clamped into the groove of the grating sheet seat 23 to fix the grating sheet 21 and the grating sheet rubber sleeve 20.
  • the first inner rotor joint device II also includes an encoder housing 17 fixed on the upper end cover 15.
  • the encoder housing 17 and the casing 34 are located on both sides of the upper end cover 15.
  • the encoder housing 17 and the upper end cover 15 define The accommodating space of the grating sheet 21 and the encoder 18.
  • the encoder housing 17 is fixed on the upper end cover 15 by bolts.
  • the casing 34 with the stator core 2 is inserted into the lower end cover 1; then the first coil sheath 24, the bearing 25, the bearing 11 and the upper end cover 15 are inserted into the aforementioned assembly according to the aforementioned assembly process
  • the lower end cover 1, the casing 34, and the upper end cover 15 are connected together by bolts, the first coil sheath 24, the casing 34, and the upper end cover 15 are all provided with through holes for outlets, and the lead cover 22 is connected by bolts Side of the casing 34; finally install the encoder 18 part and the grating sheet 21 part.
  • all components should be installed concentrically to ensure stable operation.
  • the N pole and S pole of the high-speed rotor magnet and the N pole and S pole of the motor magnet are respectively attached to the inner and outer rings of the high-speed rotor yoke 5 to form the motor and the magnetic gear.
  • the mechanical compound For the motor part, when the coils wound on the stator core 2 are supplied with three-phase symmetrical current, since the three-phase stator has a difference of 120 in space, the three-phase stator current generates a rotating magnetic field in the space.
  • the motor magnet N pole, S The poles are moved by electromagnetic force in the rotating magnetic field, thereby driving the high-speed rotor yoke 5 to rotate.
  • the number of slots of the stator core 2 and the number of N and S pole pairs of the motor magnet can be selected according to requirements.
  • the N pole and S pole of the high-speed rotor magnet are attached to the inner ring of the high-speed rotor yoke 5.
  • the high-speed rotor magnet N-pole 31 and the high-speed rotor magnet S-pole 32 are alternately arranged, and the magnet divides the circumference equally.
  • a total of N 1 pairs of magnetic poles are set; the magnetic control block 30 and the magnetic control block skeleton 7 equally divide the corresponding circumference.
  • the magnetic control block 30 can be made of silicon steel and other materials with strong magnetic permeability.
  • the magnetic control block 30 is set to N3 blocks.
  • Low-speed rotor magnet N pole 28, low-speed rotor magnet S pole 29 are alternately arranged, and a total of N2 pairs of magnetic poles are set; Both ends of the magnet N pole 28 and the low-speed rotor magnet S pole 29 in the direction of the longitudinal axis are arranged to be flush with each other. That is to say, the upper and lower surfaces of the high-speed rotor magnet N pole and S pole, the magnetization block 30, and the low-speed rotor magnet N pole and S pole are all flush to form a coupling of magnetic gear transmission. , A small gap is set between the low-speed rotor magnets.
  • the magnetizing block 30 adjusts the magnetic fields generated by the magnets of the two rotors, and generates spatial harmonics in the space gap. The adjusted magnetic field passes through the magnetizing block 30 and another The magnetic fields on the side interact to transmit torque and speed. According to the principle of concentric shaft magnetic gear transmission, in order to maximize the thrust density, the following should be used:
  • N 3 N 1 +N 2
  • N 1 the number of pairs of high-speed rotor magnets
  • N 3 The number of pairs of magnetic tuning blocks
  • N 2 The number of pairs of low-speed rotor magnets
  • ⁇ 1 The rotation angle of the high-speed rotor within t
  • ⁇ 2 The rotation angle of the low-speed rotor within t.
  • the screw spline connector 42 is provided on the slider 43, the upper hollow motor 38 and the lower hollow motor 41 are arranged coaxially, the upper hollow motor 38 has an upper hollow shaft, and the upper hollow shaft is provided with an upper encoder 37 and a wire
  • the flange nut 36 matched with the bar 35, wherein the upper encoder 36 is fixed on the upper hollow shaft by a set screw.
  • the lead screw 35 is sleeved in the upper hollow shaft, and the lead screw 35 is connected to the upper end of the lead screw spline connector 42.
  • the screw thread lift angle ⁇ the equivalent friction angle ⁇ v to prevent self-locking and ensure good transmission.
  • an outer cylinder 47 is sleeved on the spline 45 to ensure that the outer cylinder 47 can smoothly drive the rotation of the spline 45.
  • the lower hollow motor 41 has a lower hollow rotating shaft, and a lower encoder 40 is provided on the lower hollow rotating shaft.
  • the lower encoder 40 is fixed on the lower hollow shaft by a set screw.
  • a spline 45 is sleeved in the lower hollow rotating shaft, and the spline 45 is provided on the screw spline connector 42.
  • the linear guide 44 is parallel to the upper hollow shaft and the lower hollow shaft.
  • the bottom end of the spline 45 can use a flange connection operating mechanism to complete the clamping of objects and plug-ins, etc.
  • the operating mechanism is the terminal actuator of the robot VI, which can be: gripper, used for automatic grasping, plug-in, etc.; or suction nozzle , Used for patch, wafer cutting; or welding machine, used for soldering, etc.
  • the rotation of the hollow rotor of the upper hollow motor 38 drives the flange nut 38 and the upper encoder 37, so that the flange nut 38 drives the screw rod 35 to move up and down.
  • the upper encoder 37 feeds back the position signal of the upper hollow motor 38, and the screw rod 35 passes through the screw rod.
  • the spline connector 42 drives the spline 45 to move up and down.
  • the hollow rotating shaft of the lower hollow motor 41 drives the outer cylinder 47 and the lower encoder 40, the outer cylinder 47 drives the spline 45 to rotate, and the lower encoder 40 feeds back the position signal of the lower hollow motor 41.
  • the upper hollow motor 38, the lower hollow motor 41, the screw rod 35 and the spline 45 are on the same shaft, and the screw rod 35 and the spline 45 are directly connected through the hollow shaft, which avoids the simultaneous operation of the upper hollow motor 38 and the lower hollow motor 41
  • the resulting vibration realizes the decoupling of linear motion and rotary motion, the structure is simple, and the volume of the mechanism is further reduced.
  • the control system of the planar articulated robot in this preferred embodiment. It includes a computer 49, a controller 50, a first motor driver 51, a second motor driver 52, an upper hollow motor driver 53, a lower hollow motor driver 54, a first encoder 55, a second encoder 56, an upper encoder 49,
  • the lower encoder 57, the computer 49 and the controller 50 are connected through an Ethernet cable, and can exchange information.
  • the controller 50 is programmed through the computer 49, and the controller 50 transmits the system feedback parameters to the computer 49 for display, so as to be displayed separately according to the program. Corresponding pulse signals are sent to the first motor driver 51, the second motor driver 52, the upper hollow motor driver 53, and the lower hollow motor driver 54.
  • the controller 50 is connected to the first motor driver 51, the second motor driver 52, the upper hollow motor driver 53, and the lower hollow motor driver 54 respectively through a parallel bus.
  • the controller 50 transmits the calculated number of pulses to the above respective drivers, and the respective drivers also output corresponding signals to drive their respective motors.
  • the first encoder 55, the second encoder 56, the upper encoder 57, and the lower encoder 58 are respectively connected to the first motor driver 51, the second motor driver 52, the upper hollow motor driver 53, and the lower hollow motor driver 54 through a parallel bus .
  • the first encoder 55, the second encoder 56, the upper encoder 57, and the lower encoder 58 feedback the position parameters of the respective motors to the corresponding drivers of the respective motors to determine whether the motors move to the corresponding positions.
  • the first encoder The position signal received by the encoder 55 and the second encoder 56 is the signal of the low-speed rotor of the magnetic gear composite motor, which cannot be directly fed back.
  • the rotation angle signal ⁇ 2 needs to be multiplied by Converted into the position signal of the high-speed rotor, that is, the position signal of the motor rotor, and then feedback.
  • the respective drivers, motors, and encoders form a closed-loop control loop, which can ensure the working accuracy of the motor.
  • the assembly accuracy is further improved.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Manipulator (AREA)
  • Permanent Field Magnets Of Synchronous Machinery (AREA)

Abstract

一种平面关节型机器人及内转子关节装置，包括底座（I）、第一内转子关节装置（II）、由第一内转子关节装置（II）驱动的第一机械臂（III）、连接于第一机械臂（II）的机械手（IV）。第一内转子关节装置（II）包括与第一机械臂（III）相固定连接并沿纵轴线延伸的转轴（13）、位于转轴（13）的外周的低速转子组件、位于低速转子组件外周的高速转子组件、在周向上位于低速转子组件和高速转子组件之间的调磁环、位于高速转子组件外周并在周向上与高速转子组件之间具有一定间隙的定子铁芯（2）、及包覆于定子铁芯（2）的外周并与定子铁芯（2）相固定连接的机壳（34），该定子铁芯（2）上缠绕有线圈。该内转子装置传动精度高、永磁体利用率高，且结构简单紧凑、成本较低。

Description

平面关节型机器人及内转子关节装置 技术领域
本发明涉及一种平面关节型机器人及内转子关节装置。
背景技术
随着IC、半导体、3C产业的飞速发展，现代自动化工厂持续升级，工业机器人将被更广泛地应用在制造业的各个领域，在精密装配领域对机器人的要求越来越高，传统SCARA机器人已经难以满足装配作业中对机器人速度和精度的需求，迫切需要提高机器人性能。现有的平面关节型机器人手臂关节是通过谐波减速器或者RV减速器来联接，并通过伺服电机驱动减速器来达到快速驱动机械臂的目的。但由于使用了谐波减速器或RV减速器，且减速器中的啮合齿间存在侧隙，所以平面关节型机器人手臂工作时会存在不可避免的误差，从而影响装配精度，且转矩密度较小。
发明内容
本发明的目的在于提供了一种平面关节型机器人及内转子关节装置，使得传动精度高、永磁体利用率高、且结构简单紧凑、成本较低。
为实现上述发明目的之一，本发明一实施方式提供一种平面关节型机器人，所述平面关节型机器人包括底座、设于所述底座的第一内转子关节装置、由所述第一内转子关节装置驱动的第一机械臂、连接 于所述第一机械臂的机械手，其中：所述第一内转子关节装置包括与所述第一机械臂相固定连接并沿纵轴线延伸的转轴、位于所述转轴的外周的低速转子组件、位于所述低速转子组件外周的高速转子组件、在周向上位于所述低速转子组件和高速转子组件之间的调磁环、位于所述高速转子组件外周并在周向上与所述高速转子组件之间具有一定间隙的定子铁芯、及包覆于所述定子铁芯的外周并与所述定子铁芯相固定连接的机壳，所述定子铁芯上缠绕有线圈。
作为本发明一实施方式的进一步改进，所述调磁环包括调磁块骨架，在周向上均匀地设置于所述调磁块骨架上的复数个调磁块，所述调磁块采用导磁材料，所述调磁块骨架采用非导磁材料。
作为本发明一实施方式的进一步改进，所述低速转子组件包括相对于所述转轴固定不动的低速转子轭、固定设于所述低速转子轭的外周部上的低速转子磁钢N极和低速转子磁钢S极，所述低速转子磁钢N极和低速转子磁钢S极在周向上交替排列，所述高速转子组件包括高速转子轭、设于所述高速转子轭的内圈上的高速转子磁钢N极和高速转子磁钢S极，所述高速转子轭的外圈上设有电机磁钢N极和电机磁钢S极，所述高速转子磁钢N极和高速转子磁钢S极在周向上交替排列，所述电机磁钢N极和电机磁钢S极在周向上交替排列。
作为本发明一实施方式的进一步改进，所述高速转子磁钢N极和高速转子磁钢S极设置为N 1对，所述低速转子磁钢N极和低速转子磁钢S极设置为N 2对，所述调磁块设置为N 3块，且N 3＝N 1+N 2。
作为本发明一实施方式的进一步改进，所述高速转子轭的转速为ω 1，所述低速转子轭的转速为ω 2，则
Figure PCTCN2019090577-appb-000001
作为本发明一实施方式的进一步改进，所述高速转子轭的扭矩为T 1，所述低速转子轭的扭矩为T 2，则
Figure PCTCN2019090577-appb-000002
作为本发明一实施方式的进一步改进，所述高速转子磁钢N极和高速转子磁钢S极、所述调磁块、所述低速转子磁钢N极和低速转子磁钢S极在垂直于所述纵轴线的方向上相互之间具有一定间隙，且在周向上均设置成均匀分布。
作为本发明一实施方式的进一步改进，所述高速转子磁钢N极和高速转子磁钢S极、所述调磁块、所述低速转子磁钢N极和低速转子磁钢S极在所述纵轴线的方向上的两端均设置成相互平齐。
作为本发明一实施方式的进一步改进，所述平面关节型机器人还包括设于所述第一机械臂和机械手之间的第二机械臂、及驱动所述第二机械臂转动的第二内转子关节装置，所述第二内转子关节装置与第一内转子关节装置相同。
作为本发明一实施方式的进一步改进，所述第一内转子关节装置还包括在所述纵轴线的延伸方向上设置于所述机壳相对两端的下端盖和上端盖，所述下端盖和上端盖均与所述机壳固定连接，所述下端盖和上端盖定义了收容腔，所述低速转子组件、高速转子组件、所述调磁环和所述定子铁芯均被收容于所述收容腔内。
作为本发明一实施方式的进一步改进，所述下端盖与所述转轴之间设有下轴承，所述上端盖与所述转轴之间设有上轴承。
作为本发明一实施方式的进一步改进，所述第一内转子关节装置还包括固定连接于所述转轴上的光栅片、及固定连接于所述上端盖的编码器，所述编码器与所述光栅片相面对，所述光栅片位于所述转轴的整个外周，且所述光栅片与所述转轴同轴心。
作为本发明一实施方式的进一步改进，所述第一内转子关节装置还包括固定设于所述上端盖的编码器壳，所述编码器壳与所述机壳位于所述上端盖的两侧，所述编码器壳与所述上端盖定义了用于容纳所述光栅片和编码器的容纳空间。
为实现上述发明目的之一，本发明一实施方式还提供一种内转子关节装置，其中，所述内转子关节装置包括沿纵轴线延伸的转轴、位于所述转轴的外周的低速转子组件、位于所述低速转子组件外周的高速转子组件、在周向上位于所述低速转子组件和高速转子组件之间的调磁环、位于所述高速转子组件外周并在周向上与所述高速转子组件之间具有一定间隙的定子铁芯、及包覆于所述定子铁芯的外周并与所述定子铁芯相固定连接的机壳，所述定子铁芯上缠绕有线圈。
作为本发明一实施方式的进一步改进，所述调磁环包括调磁块骨架，在周向上均匀地设置于所述调磁块骨架上的复数个调磁块，所述调磁块采用导磁材料，所述调磁块骨架采用非导磁材料。
作为本发明一实施方式的进一步改进，所述低速转子组件包括相对于所述转轴固定不动的低速转子轭、固定设于所述低速转子轭的外周部上的低速转子磁钢N极和低速转子磁钢S极，所述低速转子磁钢N极和低速转子磁钢S极在周向上交替排列，所述高速转子组件 包括高速转子轭、设于所述高速转子轭的内圈上的高速转子磁钢N极和高速转子磁钢S极，所述高速转子轭的外圈上设有电机磁钢N极和电机磁钢S极，所述高速转子磁钢N极和高速转子磁钢S极在周向上交替排列，所述电机磁钢N极和电机磁钢S极在周向上交替排列。
本发明的有益效果是，本发明采用的技术方案，由于在周向上位于所述低速转子组件和高速转子组件之间设有调磁环，调整低速转子组件和高速转子组件产生的磁场，并生成空间谐波，实现传递扭矩和速度，使得传动精度高、永磁体利用率高。另外，高速转子组件输出较低的扭矩，通过转换后，低速转子组件就能得到较高扭矩，因此可大大减小高速转子组件部分的体积，进一步使得结构简单紧凑、成本较低。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明中记载的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例提供的平面关节型机器人的主视图；
图2是本发明实施例提供的平面关节型机器人的立体示意图；
图3是图1中第一内转子关节装置的立体分解示意图；
图4是图3中第一内转子关节装置的横向剖视图；
图5是图3中第一内转子关节装置的俯视剖视图；
图6是图1中机械手的主视图；
图7是图1中平面关节型机器人的控制流程图。
具体实施方式
为了使本技术领域的人员更好地理解本发明中的技术方案，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本发明保护的范围。
在本发明具体实施方式的描述中，术语“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“底”、“内”和“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，通常以平面关节型机器人处于正常使用状态为参照，而并不是指示所指的位置或元件必须具有特定的方位。
参见图1和图2，本发明具体实施方式提供一种平面关节型机器人，包括底座Ⅰ、设于底座Ⅰ的第一内转子关节装置Ⅱ、由第一内转子关节装置Ⅱ驱动的第一机械臂Ⅲ、连接于第一机械臂Ⅲ的机械手Ⅵ。
进一步的，平面关节型机器人还包括设于第一机械臂Ⅲ和机械手Ⅵ之间的第二机械臂Ⅴ、及驱动第二机械臂Ⅴ转动的第二内转子关节装置Ⅳ，本优选实施例中，第二内转子关节装置Ⅳ与第一内转子关节装置Ⅱ相同。当然，第二内转子关节装置Ⅳ也可以设置成与第一内转 子关节装置Ⅱ不相同。下面仅对第一内转子关节装置Ⅱ进行详细介绍，不再对第二内转子关节装置Ⅳ进行具体展开。
第一内转子关节装置Ⅱ为磁齿轮复合电机。第一内转子关节装置Ⅱ包括与第一机械臂Ⅲ相固定连接并沿纵轴线延伸的转轴13、位于转轴13外周的磁齿轮模块、及位于磁齿轮模块外周的电机模块。
对总体结构的安装进行说明。第一内转子关节装置Ⅱ、第二内转子关节装置Ⅳ及机械手Ⅵ装配完成后，进行总装。第一内转子关节装置Ⅱ通过螺栓连接在底座Ⅰ上；第一机械臂Ⅲ通过螺栓连接在第一内转子关节装置Ⅱ的转轴13上；第二内转子关节装置Ⅳ通过螺栓连接在第一机械臂Ⅲ上；第二机械臂Ⅴ通过螺栓连接在第二内转子关节装置Ⅳ的转轴上，第二机械臂Ⅴ与第二内转子关节装置Ⅳ的转轴共同转动；机械手Ⅵ通过螺栓固定在第二机械臂Ⅴ上。
进一步参见图3至图4，磁齿轮模块包括位于转轴13的外周的低速转子组件、位于低速转子组件外周的高速转子组件、在周向上位于低速转子组件和高速转子组件之间的调磁环。电机模块包括位于高速转子组件外周并在周向上与高速转子组件之间具有一定间隙的定子铁芯2、缠绕于定子铁芯2上的线圈。第一内转子装置还包括包覆于定子铁芯2的外周并与定子铁芯2相固定连接的机壳34。
调磁环包括调磁块骨架7，在周向上均匀地设置于调磁块骨架7上的复数个调磁块30，调磁块30采用导磁材料，调磁块骨架7采用非导磁材料。
低速转子组件包括相对于转轴13固定不动的低速转子轭26、固 定设于低速转子轭26的外周部上的低速转子磁钢N极28和低速转子磁钢S极29，低速转子磁钢N极28和低速转子磁钢S极29在周向上交替排列，高速转子组件包括高速转子轭5、设于高速转子轭5的内圈上的高速转子磁钢N极31和高速转子磁钢S极32，电机模块还包括设于高速转子轭5的外圈上的电机磁钢N极3和电机磁钢S极4，高速转子磁钢N极31和高速转子磁钢S极32在周向上交替排列，电机磁钢N极3和电机磁钢S极4在周向上交替排列。
通常，低速转子的磁极多于高速转子的磁极。本优选实施例中，磁齿轮模块部分含有高速转子组件、调磁块30、低速转子组件三部分，由于低速转子的磁极多，高速转子的磁极少，通过电磁力的作用则可以起到增大转矩的目的，同时基于磁场调制式磁齿轮的原理，使用调磁块30可增加永磁体利用率、推力密度、精度、稳定性，且磁齿轮内置过载保护，因工作时无摩擦而具有高可靠性，无需润滑。电机磁钢与磁齿轮高速转子磁钢粘贴在高速转子轭5两侧，电机磁钢与磁齿轮高速转子磁钢同步运动，实现电机模块与磁齿轮模块的机械复合，此时即使电机输出扭矩很小，也可通过磁齿轮模块的转化获得大扭矩来满足机器人运动要求，这大大减少了电机体积，减少了使用成本。因此，本优选实施例具有低成本、结构紧凑、永磁体利用率高、高速度、高传动精度、高动态响应等特点，
低速转子轭26套入转轴13上，转轴13与低速转子轭26的孔设有凸起，通过凸起使二者周向配合，将第一轴用弹簧挡圈9、第二轴用弹簧挡圈10分别卡入转轴13的两凹槽，使低速转子轭26与转轴 13轴向配合，从而二者一起转动。
低速转子磁钢N极28与低速转子磁钢S极29均设置为若干个。且若干低速转子磁钢N极28与若干低速转子磁钢S极29通过结构胶粘贴于低速转子轭26上，低速转子磁钢N极28与低速转子磁钢S极29在周向上均匀分布。另外，高速转子磁钢N极31和高速转子磁钢S极32、调磁块30、低速转子磁钢N极28和低速转子磁钢S极29在垂直于纵轴线的方向上相互之间具有一定间隙。
第一内转子关节装置Ⅱ还包括在纵轴线的延伸方向上设置于机壳34相对两端的下端盖1和上端盖15，下端盖1和上端盖15均与机壳34固定连接，下端盖1和上端盖15定义了收容腔，低速转子组件、高速转子组件、调磁环和定子铁芯2均被收容于收容腔内。
下端盖1与转轴13之间设有下轴承6，上端盖15与转轴13之间设有上轴承25。具体的，下轴承6套入转轴13，下轴承6与转轴13通过过度配合固连在一起，同时第一卡簧12卡入转轴13的相应凹槽内，对下轴承6进行轴向固定，下端盖1套入下轴承6的外圈，同样通过过度配合连接，轴承27再通过过度配合套入下端盖1外圈。
若干调磁块30均匀地插入调磁块骨架7内，调磁块盖板8通过螺栓与调磁块30、调磁块骨架7连接，且调磁块骨架7同样通过过度配合套入下端盖1。
同样，若干高速转子磁钢N极31、高速转子磁钢S极32也通过结构胶粘贴在高速转子轭5内圈，若干电机磁钢N极3、电机磁钢S极4通过结构胶粘贴在高速转子轭5外圈，且在周向上均设置成均匀 分布，形成高速动子，高速动子的高速转子轭5通过过度配合套入轴承27。下端盖1上设有线圈护套33，机壳34的外侧面还固定连接有引线盖22。
第一内转子关节装置Ⅱ还包括固定连接于转轴13上的光栅片21、及固定连接于上端盖15的编码器18，编码器18与光栅片21相面对，光栅片21位于转轴13的整个外周，且光栅片21与转轴13同轴心。进一步的，上端盖15上设有编码器支架16，编码器18通过螺栓固定连接于编码器支架16上。转轴13上固定套设有有光栅片座23，卡簧14卡入转轴13的对应凹槽内对光栅片座23进行轴向固定，光栅片21设于光栅片座23上，且光栅片座23上还设有光栅片胶套20，卡簧19卡入光栅片座23的凹槽将光栅片21和光栅片胶套20固定。
第一内转子关节装置Ⅱ还包括固定设于上端盖15的编码器壳17，编码器壳17与机壳34位于上端盖15的两侧，编码器壳17与上端盖15定义了用于容纳光栅片21和编码器18的容纳空间。其中，编码器壳17通过螺栓固定在上端盖15上。
装配时，先将低速转子组件装配于转轴13上，并装配调磁环和高速转子组件。再先将第二线圈护套33放在下端盖1上，定子铁芯2放入机壳34内圈，机壳34外表面有螺栓孔，通过拧紧外部的螺栓将定子铁芯2卡死在机壳34内，将卡有定子铁芯2的机壳34套进下端盖1上；再按前述装配过程将第一线圈护套24、轴承25、轴承11和上端盖15套入前述装配体；下端盖1、机壳34、上端盖15通过螺栓连接在一起，第一线圈护套24、机壳34、上端盖15均设有通孔， 用于出线，引线盖22并通过螺栓连接于机壳34侧面；最后再安装编码器18部分和光栅片21部分。另外，值得注意的是，所有零部件应同心安装，确保稳定运转。
进一步参见图5，对磁齿轮复合电机的运动原理进行说明，高速转子磁钢N极、S极与电机磁钢N极、S极分别贴在高速转子轭5的内外圈，形成电机与磁齿轮的机械复合。对于电机部分，当定子铁芯2上缠绕的线圈通入三相对称电流，由于三相定子在空间位置上相差120，所以三相定子电流在空间中产生旋转磁场，电机磁钢N极、S极在旋转磁场中受到电磁力作用运动，从而带动高速转子轭5转动，定子铁芯2的槽数及电机磁钢N、S极对数可以根据需求选择。对于磁齿轮部分，高速转子磁钢N极、S极贴在高速转子轭5内圈，高速转子磁钢N极31、高速转子磁钢S极32交替排列，且磁钢将该圆周均分，共设置为N 1对磁极；调磁块30与调磁块骨架7同样将对应圆周部分均分，调磁块30可用硅钢片等导磁能力强的材料，调磁块30共设置为N3块；低速转子磁钢N极28、低速转子磁钢S极29交替排列，且共设置为N2对磁极；高速转子磁钢N极31和高速转子磁钢S极32、调磁块30、低速转子磁钢N极28和低速转子磁钢S极29在纵轴线的方向上的两端均设置成相互平齐。也就是说，高速转子磁钢N极和S极、调磁块30、低速转子磁钢N极和S极上下表面均平齐，形成磁齿轮传动的耦合，高速转子磁钢、调磁块30、低速转子磁钢之间均设置较小间隙，调磁块30调整两个转子的磁钢产生的磁场，并在空间间隙中生成空间谐波，经过调整的磁场经调磁块 30与另一侧的磁场相互作用，从而传递扭矩与速度，根据同心轴式磁齿轮传动原理，为使推力密度最高，应使：
N 3＝N 1+N 2
为使传递的扭矩最大，此时各部分转速关系为：
Figure PCTCN2019090577-appb-000003
因为调磁块固定不动，所以ω 3＝0，所以：
Figure PCTCN2019090577-appb-000004
即：
Figure PCTCN2019090577-appb-000005
可知高速转子与低速转子的转动方向相反。
此时扭矩大小的关系为：
Figure PCTCN2019090577-appb-000006
且N 1<N 2，因此外转子扭矩得到增大，但转速相对减小，在时间t内，内外转子转动的角度关系为：
Figure PCTCN2019090577-appb-000007
上式中各参数为：
N 1—高速转子磁钢对数；
N 3—调磁块对数；
N 2—低速转子磁钢对数；
ω 1—高速转子转速；
ω 3—调磁块转速；
ω 2—低速转子转速；
T 1—高速转子扭矩；
T 2—低速转子扭矩；
θ 1—高速转子t时间内转动角度；
θ 2—低速转子t时间内转动角度。
参见图6，对机械手的机械结构进行说明。丝杠花键连接件42设于滑块43上，上中空电机38和下中空电机41同轴心设置，上中空电机38具有上中空转轴，上中空转轴上设有上编码器37和与丝杠35配接的法兰螺母36，其中通过紧定螺钉将上编码器36固定于上中空转轴上。另外丝杠35套入上中空转轴中，且丝杠35连接于丝杠花键连接件42的上端，丝杆的螺纹升角λ<当量摩擦角Φv，以防止自锁，保证良好传动性。另外，花键45上套设有外筒47，保证外筒47可以顺滑带动花键45的转动。下中空电机41具有下中空转轴，下中空转轴上设有下编码器40。下编码器40通过紧定螺钉固定于下中空转轴上。下中空转轴中套设有花键45，花键45设于丝杠花键连接件42上。且直线导轨44与上中空转轴和下中空转轴平行。花键45最底端可以用法兰连接操作机构来完成夹取物体和插件等，操作机构为机械手Ⅵ的终端执行机构，可以为：夹爪，用于自动抓取、插件等；或为吸嘴，用于贴片、晶圆切割；或为焊接机，用于焊锡等。上中空电机38的中空转子转动带动法兰螺母38和上编码器37，从而法兰 螺母38带动丝杆35上下移动，上编码器37反馈上中空电机38的位置信号，丝杆35通过丝杆花键连接件42带动花键45上下移动。下中空电机41的中空转轴带动外筒47和下编码器40，外筒47带动花键45转动，下编码器40反馈下中空电机41的位置信号。上中空电机38、下中空电机41、丝杆35和花键45在同一条轴上，丝杆35和花键45通过空心轴直接联接，避免了上中空电机38和下中空电机41同时工作时引起的震动，实现了直线运动和旋转运动的解耦，结构简单、使机构体积进一步缩小。
参见图7，本优选实施例中平面关节型机器人的控制系统。其包括计算机49、控制器50、第一电机驱动器51、第二电机驱动器52、上中空电机驱动器53、下中空电机驱动器54、第一编码器55、第二编码器56、上编码器49、下编码器57，计算机49和控制器50通过以太网线连接，并且可以交互信息，通过计算机49对控制器50进行编程，控制器50将系统反馈的参数传送给计算机49显示出来，从而根据程序分别对第一电机驱动器51、第二电机驱动器52、上中空电机驱动器53及下中空电机驱动器54发出相应的脉冲信号。控制器50与第一电机驱动器51、第二电机驱动器52、上中空电机驱动器53和下中空电机驱动器54分别通过并行总线连接。控制器50将所计算出来的脉冲数分别传送到以上各自驱动器中，各自驱动器也将输出相应的信号分别驱动各自电机。第一编码器55、第二编码器56、上编码器57、下编码器58分别与第一电机驱动器51、第二电机驱动器52、上中空电机驱动器53和下中空电机驱动器54通过并行总线连接。 第一编码器55、第二编码器56、上编码器57、下编码器58将各自电机所在的位置参数反馈给各自电机所对应的驱动器，从而判断电机是否运动到相应的位置，第一编码器55、第二编码器56接收的位置信号为磁齿轮复合电机低速转子的信号，不能直接进行反馈，如旋转角度信号θ2需乘以
Figure PCTCN2019090577-appb-000008
转化为高速转子的位置信号也即电机转子的位置信号，再进行反馈。其中，各自驱动器、电机、编码器构成了一个闭环控制回路，这样的回路可以保证电机的工作精度。从而，进一步提高了装配精度。
对于本领域技术人员而言，显然本发明不限于上述示范性实施例的细节，而且在不背离本发明的精神或基本特征的情况下，能够以其他的具体形式实现本发明。因此，无论从哪一点来看，均应将实施例看作是示范性的，而且是非限制性的，本发明的范围由所附权利要求而不是上述说明限定，因此旨在将落在权利要求的等同要件的含义和范围内的所有变化囊括在本发明内。不应将权利要求中的任何附图标记视为限制所涉及的权利要求。
此外，应当理解，虽然本说明书按照实施方式加以描述，但并非每个实施方式仅包含一个独立的技术方案，说明书的这种叙述方式仅仅是为清楚起见，本领域技术人员应当将说明书作为一个整体，各实施例中的技术方案也可以经适当组合，形成本领域技术人员可以理解的其他实施例。

Claims (16)

  1. 一种平面关节型机器人，所述平面关节型机器人包括底座、设于所述底座的第一内转子关节装置、由所述第一内转子关节装置驱动的第一机械臂、连接于所述第一机械臂的机械手，其特征在于：所述第一内转子关节装置包括与所述第一机械臂相固定连接并沿纵轴线延伸的转轴、位于所述转轴的外周的低速转子组件、位于所述低速转子组件外周的高速转子组件、在周向上位于所述低速转子组件和高速转子组件之间的调磁环、位于所述高速转子组件外周并在周向上与所述高速转子组件之间具有一定间隙的定子铁芯、及包覆于所述定子铁芯的外周并与所述定子铁芯相固定连接的机壳，所述定子铁芯上缠绕有线圈。
  2. 根据权利要求1所述的平面关节型机器人，其特征在于，所述调磁环包括调磁块骨架，在周向上均匀地设置于所述调磁块骨架上的复数个调磁块，所述调磁块采用导磁材料，所述调磁块骨架采用非导磁材料。
  3. 根据权利要求2所述的平面关节型机器人，其特征在于，所述低速转子组件包括相对于所述转轴固定不动的低速转子轭、固定设于所述低速转子轭的外周部上的低速转子磁钢N极和低速转子磁钢S极，所述低速转子磁钢N极和低速转子磁钢S极在周向上交替排列，所述高速转子组件包括高速转子轭、设于所述高速转子轭的内圈上的高速转子磁钢N极和高速转子磁钢S极，所述高速转子轭的外圈上设有电机磁钢N极和电机磁钢S极，所述高速转子磁钢N极和高速转子磁钢S极在周向上交替排列，所述电机磁钢N极和电机磁钢S极在周向上交替排列。
  4. 根据权利要求3所述的平面关节型机器人，其特征在于，所述高速转子磁钢N极和高速转子磁钢S极设置为N 1对，所述低速转子磁钢N极和低速转子磁钢S极设置为N 2对，所述调磁块设置为N 3块，且N 3＝N 1+N 2。
  5. 根据权利要求4所述的平面关节型机器人，其特征在于，所述高速转子轭的转速为ω 1，所述低速转子轭的转速为ω 2，则
    Figure PCTCN2019090577-appb-100001
  6. 根据权利要求4所述的平面关节型机器人，其特征在于，所述高速转子轭的扭矩为T 1，所述低速转子轭的扭矩为T 2，则
    Figure PCTCN2019090577-appb-100002
  7. 根据权利要求3所述的平面关节型机器人，其特征在于，所述高速转子磁钢N极和高速转子磁钢S极、所述调磁块、所述低速转子磁钢N极和低速转子磁钢S极在垂直于所述纵轴线的方向上相互之间具有一定间隙，且在周向上均设置成均匀分布。
  8. 根据权利要求3所述的平面关节型机器人，其特征在于，所述高速转子磁钢N极和高速转子磁钢S极、所述调磁块、所述低速转子磁钢N极和低速转子磁钢S极在所述纵轴线的方向上的两端均设置成相互平齐。
  9. 根据权利要求1所述的平面关节型机器人，其特征在于：所述平面关节型机器人还包括设于所述第一机械臂和机械手之间的第二机械臂、及驱动所述第二机械臂转动的第二内转子关节装置，所述第二内转子关节装置与第一内转子关节装置相同。
  10. 根据权利要求1所述的平面关节型机器人，其特征在于，所述第一内转子关节装置还包括在所述纵轴线的延伸方向上设置于所述机壳相对两端的下端盖和上端盖，所述下端盖和上端盖均与所述机壳固定连接，所述下端盖和上端盖定义了收容腔，所述低速转子组件、高速转子组件、所述调磁环和所述定子铁芯均被收容于所述收容腔内。
  11. 根据权利要求10所述的平面关节型机器人，其特征在于：所述下端盖与所述转轴之间设有下轴承，所述上端盖与所述转轴之间设有上轴承。
  12. 根据权利要求10所述的平面关节型机器人，其特征在于：所述第一内转子关节装置还包括固定连接于所述转轴上的光栅片、及固定连接于所述上端盖的编码器，所述编码器与所述光栅片相面对，所述光栅片位于所述转轴的整个外周，且所述光栅片与所述转轴同轴心。
  13. 根据权利要求12所述的平面关节型机器人，其特征在于，所述第一内转子关节装置还包括固定设于所述上端盖的编码器壳，所述编码器壳与所述机壳位于所述上端盖的两侧，所述编码器壳与所述上端盖定义了用于容纳所述光栅片和编码器的容纳空间。
  14. 一种内转子关节装置，其特征在于，所述内转子关节装置包括沿纵轴线延伸的转轴、位于所述转轴的外周的低速转子组件、位于所述低速转子组件外周的高速转子组件、在周向上位于所述低速转子组件和高速转子组件之间的调磁环、位于所述高速转子组件外周并在周向上与所述高速转子组件之间具有一定间隙的定子铁芯、及包覆于所述定子铁芯的外周并与所述定子铁芯相固定连接的机壳，所述定子铁芯上缠绕有线圈。
  15. 根据权利要求14所述的内转子关节装置，其特征在于，所述调磁环包括调磁块骨架，在周向上均匀地设置于所述调磁块骨架上的复数个调磁块，所述调磁块采用导磁材料，所述调磁块骨架采用非导磁材料。
  16. 根据权利要求15所述的内转子关节装置，其特征在于，所述低速转子组件包括相对于所述转轴固定不动的低速转子轭、固定设于所述低速转子轭的外周部上的低速转子磁钢N极和低速转子磁钢S极，所述低速转子磁钢N极和低速转子磁钢S极在周向上交替排列，所述高速转子组件包括高速转子轭、设于所述高速转子轭的内圈上的高速转子磁钢N极和高速转子磁钢S极，所述高速转子轭的外圈上设有电机磁钢N极和电机磁钢S极，所述高速转子磁钢N极和高速转子磁钢S极在周向上交替排列，所述电机磁钢N极和电机磁钢S极在周向上交替排列。
PCT/CN2019/090577 2019-05-30 2019-06-10 平面关节型机器人及内转子关节装置 WO2020237721A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US17/033,893 US11850746B2 (en) 2019-05-30 2020-09-27 Planar articulated robot and inner rotor joint device

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910465079 2019-05-30
CN201910465079.8 2019-05-30

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US17/033,893 Continuation US11850746B2 (en) 2019-05-30 2020-09-27 Planar articulated robot and inner rotor joint device

Publications (1)

Publication Number Publication Date
WO2020237721A1 true WO2020237721A1 (zh) 2020-12-03

Family

ID=68328414

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/090577 WO2020237721A1 (zh) 2019-05-30 2019-06-10 平面关节型机器人及内转子关节装置

Country Status (3)

Country Link
US (1) US11850746B2 (zh)
CN (1) CN110394825A (zh)
WO (1) WO2020237721A1 (zh)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115255095A (zh) * 2022-07-29 2022-11-01 河南永荣动力科技有限公司 一种电机定转子冲压用多工位e型机械臂送料方法
CN116061229A (zh) * 2023-03-09 2023-05-05 佳奕筱安(上海)机器人科技有限公司 协作机器人用的高集成度一体式关节模组

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113188574B (zh) * 2021-05-25 2022-10-18 上海电气智能康复医疗科技有限公司 一种分体式编码组件、减速机模组及安装方法
CN113787540B (zh) * 2021-09-01 2022-10-21 韶关学院 一种基于安培力作用的夹紧驱动装置
CN114257055A (zh) * 2021-12-22 2022-03-29 杭州万向职业技术学院 机器人关节低速大力矩输出装置
CN114571498B (zh) * 2022-04-18 2023-07-25 北京航空航天大学 一种面向水下机器人的密封式旋转伺服关节
AT526081B1 (de) 2022-04-19 2023-11-15 Iies Inspired Innovation Eng Services E U Drehantrieb für einen Roboterarm

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8446060B1 (en) * 2010-01-12 2013-05-21 Richard H. Lugg Magnetic advanced gas-turbine transmission with radial aero-segmented nanomagnetic-drive (MAGTRAN)
CN103635716A (zh) * 2011-07-15 2014-03-12 日立金属株式会社 磁力齿轮装置
CN106826801A (zh) * 2015-12-28 2017-06-13 苏州大学 平面关节型机器人及其控制系统
CN106899194A (zh) * 2017-03-31 2017-06-27 东南大学 基于磁通调制复合电机的海流能一体化发电装置
US20180062490A1 (en) * 2016-08-31 2018-03-01 Uti Limited Partnership Induction machine with integrated magnetic gear and related methods
CN208880763U (zh) * 2018-05-18 2019-05-21 深圳超磁机器人科技有限公司 一种机器人关节模组

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100953385B1 (ko) * 2008-02-14 2010-04-20 한국과학기술연구원 영구자석과 전자석의 복합 적용 방식을 이용한 강성 발생장치 및 이를 구비하는 로봇 머니퓰레이터의 조인트
US9321172B2 (en) * 2011-05-13 2016-04-26 Hdt Expeditionary Systems, Inc. Modular rotational electric actuator
JP2018007351A (ja) * 2016-06-29 2018-01-11 セイコーエプソン株式会社 ロボット、モーター、及びモーターの製造方法
CN106655680B (zh) * 2017-02-25 2023-09-05 兰州交通大学 一种可调磁旋转电机
CN107332419A (zh) * 2017-07-07 2017-11-07 南京金冠永磁科技有限公司 一种永磁复合直驱电机
CN207256275U (zh) * 2017-08-23 2018-04-20 上海航天有线电厂有限公司 一种协作机器人关节结构
JP6855558B2 (ja) * 2018-12-26 2021-04-07 川崎重工業株式会社 無励磁作動型電磁ブレーキ用の制御装置、マルチブレーキシステム、ロボット、及び医療用ロボットシステム
JP2021158751A (ja) * 2020-03-26 2021-10-07 セイコーエプソン株式会社 ロボット及びロボットシステム

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8446060B1 (en) * 2010-01-12 2013-05-21 Richard H. Lugg Magnetic advanced gas-turbine transmission with radial aero-segmented nanomagnetic-drive (MAGTRAN)
CN103635716A (zh) * 2011-07-15 2014-03-12 日立金属株式会社 磁力齿轮装置
CN106826801A (zh) * 2015-12-28 2017-06-13 苏州大学 平面关节型机器人及其控制系统
US20180062490A1 (en) * 2016-08-31 2018-03-01 Uti Limited Partnership Induction machine with integrated magnetic gear and related methods
CN106899194A (zh) * 2017-03-31 2017-06-27 东南大学 基于磁通调制复合电机的海流能一体化发电装置
CN208880763U (zh) * 2018-05-18 2019-05-21 深圳超磁机器人科技有限公司 一种机器人关节模组

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115255095A (zh) * 2022-07-29 2022-11-01 河南永荣动力科技有限公司 一种电机定转子冲压用多工位e型机械臂送料方法
CN115255095B (zh) * 2022-07-29 2023-05-12 河南永荣动力股份有限公司 一种电机定转子冲压用多工位e型机械臂送料方法
CN116061229A (zh) * 2023-03-09 2023-05-05 佳奕筱安(上海)机器人科技有限公司 协作机器人用的高集成度一体式关节模组

Also Published As

Publication number Publication date
CN110394825A (zh) 2019-11-01
US11850746B2 (en) 2023-12-26
US20210023700A1 (en) 2021-01-28

Similar Documents

Publication Publication Date Title
WO2020237721A1 (zh) 平面关节型机器人及内转子关节装置
CN106826801B (zh) 平面关节型机器人及其控制系统
US8860343B2 (en) Rotary electric machine
US8638013B2 (en) Electromechanical device, actuator using the same, and motor
CN102497080B (zh) 一种动磁式直线旋转二自由度电机
US10141823B2 (en) Motor, gimbal, and mechanical arm having the same
CN102355103B (zh) 一种基于电磁和压电混合驱动的三自由度球型电机
CN111082551B (zh) 定子及模块化结构的旋转直线两自由度永磁电机
US11336166B2 (en) Motor and drive circuit and driving method the same
EP3386074A1 (en) Motor, and pan-tilt and robotic arm having same
JP2023503522A (ja) モジュラーロボットジョイント、エンコーダ読み取りヘッド位置調整機構、及び、エンコーダ読み取りヘッドの位置調整の方法
CN1373541A (zh) 洗衣机
CN110480622A (zh) 平面关节型机器人及外转子关节装置
CN109660100A (zh) 一种直线旋转两自由度永磁电机
CN103986301A (zh) 高动态动磁式的直线旋转一体式二自由度电机
CN109600015B (zh) 一种定子励磁型直线旋转电机结构
CN110722595A (zh) 机器人一体化驱动关节模组
CN108736675A (zh) 一种动圈式单极性永磁体旋转直线电机
CN211063425U (zh) 定子及模块化结构的旋转直线两自由度永磁电机
CN208369436U (zh) 一种动圈式单极性永磁体旋转直线电机
CN110635643B (zh) 一种无刷永磁电机的增功提速方法
CN210629261U (zh) 一种基于闭环控制的步进式伺服执行器
CN207732524U (zh) 一种伺服电机叠片定子
JP2003169456A (ja) アクチュエータ
CN218958710U (zh) 电机和机器人

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19930211

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19930211

Country of ref document: EP

Kind code of ref document: A1